jetfishteam / Mbed 2 deprecated robotic_fish_ver_4_9_pixy

My modifications/additions to the code

Dependencies:   ADXL345 ADXL345_I2C IMUfilter ITG3200 Servo fishgait mbed-rtos mbed pixy_cam

Fork of robotic_fish_ver_4_8 by jetfishteam

main.cpp@21:835fd919b4bd, 2014-06-03 (annotated)

Committer:
sandwich
Date:
Tue Jun 03 15:30:09 2014 +0000
Revision:
21:835fd919b4bd
Parent:
20:6ae16da1492a
Child:
22:807d5467fbf6
incorporating pixy

Who changed what in which revision?

UserRevisionLine numberNew contents of line
sandwich 0:ff9bc5f69c57 1 #include "mbed.h"
sandwich 2:430c068cf570 2 #include "Servo.h"
sandwich 7:e005cfaff8d1 3 //#include "rtos.h"
rkk 8:0574a5db1fc4 4 //#include "PwmReader.h"
rkk 11:8ec915eb70f6 5 //#include "PwmIn.h"
rkk 11:8ec915eb70f6 6 #include "MainController.h"
rkk 6:a4d6f3e4bf28 7
sandwich 2:430c068cf570 8 Serial pc(USBTX, USBRX);
sandwich 7:e005cfaff8d1 9 Timer t;
rkk 11:8ec915eb70f6 10
sandwich 7:e005cfaff8d1 11 int main()
sandwich 7:e005cfaff8d1 12 {
sandwich 0:ff9bc5f69c57 13 t.start();
rkk 8:0574a5db1fc4 14
rkk 11:8ec915eb70f6 15 MainController mainCtrl;
sandwich 21:835fd919b4bd 16
sandwich 21:835fd919b4bd 17 // pixy cam!
sandwich 21:835fd919b4bd 18 pixySPI pcam(p5,p6,p7, 20, &pc);
sandwich 21:835fd919b4bd 19 //
rkk 12:7eeb29892625 20
rkk 11:8ec915eb70f6 21 mainCtrl.start();
rkk 11:8ec915eb70f6 22
rkk 12:7eeb29892625 23 while(true) {
rkk 11:8ec915eb70f6 24
rkk 20:6ae16da1492a 25 pc.printf("frq: %.2f, vol: %.2f, amp: %.2f, yaw: %.2f, dut: %.2f, pit: %.2f, adj: %.2f, tadd: %.2f, t: %.2f\n",
rkk 20:6ae16da1492a 26 mainCtrl.getFrequency(), mainCtrl.getVolume(), mainCtrl.getAmplitude(), mainCtrl.getYaw(), mainCtrl.getDutyCycle(), mainCtrl.getPitch(), mainCtrl.getAdj(), mainCtrl.getTimeAdd(), t.read());
rkk 12:7eeb29892625 27
rkk 11:8ec915eb70f6 28 wait_ms(100);
sandwich 0:ff9bc5f69c57 29 }
rkk 12:7eeb29892625 30 //t.stop();
rkk 12:7eeb29892625 31 //mainCtrl.stop();
sandwich 0:ff9bc5f69c57 32 }